duration time_from_start

geometry_msgs/Pose pose

geometry_msgs/Twist velocity

geometry_msgs/Twist acceleration

geometry_msgs/Twist jerk

geometry_msgs/Twist snap

# Heading angle with respect to world frame [rad]
float64 heading

# First derivative of the heading angle [rad/s]
float64 heading_rate

# Second derivative of the heading angle [rad/s^2]
float64 heading_acceleration
